KR20220098532A - Wearable Assistance Device - Google Patents

Abstract

The present invention relates to a wearable assistance device capable of providing various degrees of freedom for a hip joint according to various movements of a hip joint or a lower extremity of a wearer. The assistance device includes a body unit; a pair of hip joint actuators; and a thigh support unit, wherein the body unit includes an extension member, the extension member of the body unit is rotatably coupled to the hip joint actuators in a z-axis direction, and the sliding displacement of the rotation center of the thigh support unit is possible.

Description

Wearable Assistance Device

The present invention relates to a wearable assistive device. More particularly, the present invention relates to a wearable auxiliary device capable of providing various degrees of freedom in the hip joint according to various movements of the wearer's hip or lower extremities.

In recent years, the development of wearable assistive devices for the disabled, patients, or the elderly with physical abilities that are impossible for daily living, or industrial or military wearable assistive devices for enhancing physical strength or physical ability is in progress.

In the case of such a wearable auxiliary device, a main body equipped with a battery and a controller and mounted on the wearer's back, a joint actuator for driving each joint, a support unit connected to each joint actuator and supporting the thigh or lower leg of the wearer The predominant form contains

In the case of such a wearable assistive device, it is possible to assist the wearer's walking by disposing a joint actuator in the vicinity of the wearer's joints and providing an assistive torque in the form of an assisting torque to the wearer's thigh or lower leg according to the wearer's gait motion.

If it is assumed that the wearer walks in the x-axis direction in the three-dimensional coordinate space, each joint actuator rotates around the y-axis parallel to the x-axis direction, which is the walking direction of the hip and knee joints, and the y-axis, which is perpendicular to the z-axis direction. can be designed to provide

That is, the joint actuator is a rotary motor type actuator is employed, and is rotated around the y-axis corresponding to the rotational direction of the joint when the wearer walks to provide driving force.

In the case of the exoskeleton lower body auxiliary device, a joint actuator is provided on the outside of the hip joint to generate a y-axis driving torque and transmit auxiliary force to the wearer's thigh through the femoral support unit surrounding the wearer's thigh.

Unlike the motor-type actuator, the hip joint of the body can perform x-axis abduction or adduction of the femur or lower extremity in addition to the y-axis rotation, and the z-axis rotation, and the hip joint rotation center that can be defined as the top of the femur exists inside the body. Therefore, since it does not coincide with the rotation center of the hip joint actuator, when motions such as adduction, abduction, or torsion of the wearer's thigh occur other than the motion of the wearer simply rotating the femur around the y-axis, the exoskeleton-structured lower body auxiliary device provides such joint freedom You may feel discomfort or pain if you do not provide it.

In particular, in the case of military or industrial wearable assistive devices, rather than assistive robots for the disabled or patients, they are being developed to make the body move faster or to support greater force. In the case of these wearable assistive devices, various movements of the hip joint The degree of mechanical joint freedom is required.

An object of the present invention is to provide a wearable auxiliary device capable of providing various degrees of freedom of the hip joint according to various movements of the wearer's hip or lower extremities.

In order to solve the above problems, the present invention is mounted to surround the waist region of the wearer, the body unit extending to the hip joint side region of the wearer; a pair of hip joint actuators mounted on both outer ends of the body unit; and a femoral support unit driven by the hip joint actuator and providing rotational assisting force to the wearer's thigh, wherein the body unit includes at least one transverse bar, a sliding block slidably mounted to the transverse bar, and the It includes an extension member that is rotatably fastened to the sliding block on the z-axis and extends to the side area of the wearer, wherein the extension member of the body unit is abducted or adducted together according to the z-axis rotation of the wearer's thighs or lower limbs. It is possible to provide a lower body auxiliary device that is rotatably fastened to the hip joint actuator and the z-axis, and the rotation center of the femoral support unit is slidably displaceable.

In addition, when the extension member is rotated outward, the sliding block connected to the expanded member may slide toward the center of the horizontal bar.

And, when the extension member is rotated inward, the sliding block connected to the folding extension member may slide in an outer direction of the horizontal bar.

Here, the stopper member is mounted on the center and both ends of the cross bar, the sliding range of each sliding block can be partitioned.

In this case, the hip joint actuator may be mounted below the outer end of the extension member.

In addition, the hip joint actuator may be mounted on a actuator mounting member that is connected downwardly to the outer end of the extension member.

In addition, in order to solve the above problems, the present invention is mounted to surround the waist region of the wearer, the body unit extending to the hip joint side region of the wearer; a pair of hip joint actuators mounted on both outer ends of the body unit; and a femoral support unit driven by the hip joint actuator and providing rotational assisting force to the wearer's thigh, wherein the body unit includes at least one transverse bar, a sliding block slidably mounted to the transverse bar, and the It includes an extension member that is rotatably fastened to the sliding block on the z-axis and extends to the side area of the wearer, wherein the femoral support unit is abducted or adducted together according to the x-axis central abduction or adduction of the wearer's thigh. It is rotatably fastened with respect to the femoral support unit can provide a lower body auxiliary device, characterized in that the connection length with the hip joint actuator is variable in a sliding manner according to the x-axis central abduction or adduction of the femur.

In addition, the hip joint actuator may be coupled to the femoral support unit via an external/external unit that allows abduction or adduction of the femoral support unit.

Here, the external/external unit may include a hinge member coupled to the output member of the hip joint actuator and a sliding member rotatably coupled to the hinge member around the x-axis.

In this case, a sliding rail may be provided on the femoral support unit, and the sliding member of the external/external unit may be slidably fastened to the sliding rail.

And, the hip joint actuator may be mounted below the outer end of the extension member.

Here, the hip joint actuator may be mounted on a actuator mounting member that is connected downwardly to the outer end of the extension member.

Figure 1 shows a front perspective view of the wearable auxiliary device according to the present invention, Figure 2 shows a rear perspective view of the wearable auxiliary device shown in FIG.
Figure 3 shows a perspective view of the hip joint structure and the femoral support unit of the wearable auxiliary device according to the present invention.
4 is a perspective view showing the hip joint structure and the femoral support unit shown in FIG. 3 rotated outward about the z-axis, and FIG. 5 is the hip joint structure and the femoral support unit shown in FIG. A perspective view of the rotated state is shown.
FIG. 6 is a perspective view of the hip joint structure and the femoral support unit shown in FIG. 3 in a state in which the x-axis center is pronated.
7 is a perspective view of the hip joint structure and the femoral support unit shown in FIG. 3 in a state in which the x-axis center is abducted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed subject matter may be thorough and complete, and the spirit of the invention may be sufficiently conveyed to those skilled in the art. Like reference numbers refer to like elements throughout.

1 is a front perspective view of a wearable auxiliary device 1000 according to the present invention, and FIG. 2 is a rear perspective view of the wearable auxiliary device 1000 shown in FIG. 1 .

1 and 2, in the present specification, the wearable auxiliary device 1000 is worn on the lower body of a disabled person, the elderly, a patient, a soldier, or a worker (hereinafter referred to as a 'wearer') to assist the walking motion. It could be a robot. Here, assisting in gait motion means providing driving force to preserve muscle strength that is lacking in the hip and knee joints to enable independent walking of a wearer who has some movement function of the lower body, or a worker or soldier This means that you can move with greater strength and speed.

The wearable auxiliary device includes a main body 500 including a controller for providing a control signal and a battery for providing power; a body unit 400 that is mounted on the rear side of the main body, wraps around the wearer's waist, and extends to the wearer's hip joint side area; a pair of hip joint actuators (100a, 100b) mounted on both ends of the body unit (400) extending to the side area of the wearer's hip joint; It is driven by the hip actuator, and may include a femoral support unit (210a, 210b) that provides rotational assistance to the wearer's thigh.

In addition, in order to assist the knee joint in addition to the support of the wearer's hip joint, a pair of knee joint actuators (100c, 100d) mounted on the femoral support unit; Lower leg support units (230a, 230b) that are driven by the knee joint actuator and link member and provide rotational assistance to the lower leg of the wearer; And, it is mounted on the end of the lower leg support unit, a pair of foot units (300a, 300b) for supporting the wearer's feet; may be configured to further include.

The body part 500 is mounted on the body unit 400 , and a pair of leg units may also be mounted on the body unit 400 .

The body unit 400 may be connected to a body frame 510 in the form of a frame extending in the direction of the wearer's spine, and the body may be mounted to the body frame 510 .

Here, the leg unit may be provided with a joint actuator that provides rotation assistance to the hip joint and the knee joint, respectively.

The hip joint actuator is mounted on the wearer's hip joint region, and the knee joint actuator is mounted on the femoral support unit instead of the knee joint region to provide rotational assistance to the wearer's knee joint through the link member.

The torque load of the hip actuator can be reduced by mounting the knee actuator to the femoral support unit rather than the knee joint region. There are also advantages to reducing it.

In summary, each leg unit is connected to a pair of hip joint actuators 100a and 100b provided in the hip joint region, which is both ends of the body unit 400, and a pair of hip joint actuators 100a, 100b, respectively, to support the wearer's thighs. A pair of thigh support units (210a, 210b) to support or assist, a pair of lower leg support units (230a, 230b) to support or assist the wearer's lower leg, a pair of the thigh support units (210a, 210b) and one A pair of knee joint structures (700a, 700b) connecting the pair of the lower leg support units (230a, 230b), respectively, are mounted on the pair of femoral support units (210a, 210b) using a link member. It may be configured to include a pair of knee joint actuators 100c and 100d for driving the knee joint structures 700a and 700b, and a pair of foot units 300a and 300b respectively mounted at the ends of the lower leg support units 230a and 230b. ); may be configured to further include.

Although the wearable auxiliary device 1000 shown in FIGS. 1 and 2 is an example in which the joint actuator 100 for driving the wearer's hip and knee joints is provided, a separate driving device may be provided in the ankle joint as needed. have.

And, each of the thigh support unit (210a, 210b) and the lower leg support unit (230a, 230b) has the wearer's thigh and lower leg at least for fixing to the femoral support unit (210a, 210b) and the lower leg support unit (230a, 230b). A wearing unit (not shown) in the form of one band or belt or other wearing member may be provided, and the driving force provided by each joint actuator 100 is eventually transmitted to the thigh or lower leg of the wearer through the wearing unit to enable independent walking. can assist

Such a pair of leg units may be arranged along the side of the wearer, but the knee joint structure may have a structure that surrounds the entire knee joint.

Since the above-mentioned body part 500 is disposed behind the wearer's upper back plate, the body part is mounted to the rear through the body unit 400, and the body unit 400 is mounted to surround the wearer's waist region, Both ends of the body unit 400 may be configured to extend to the wearer's waist side area.

Figure 3 shows a perspective view of the hip joint structure and the femoral support units (210a, 210b) of the wearable auxiliary device according to the present invention.

For convenience of explanation, the front direction or walking direction of the wearer wearing the wearable assistive device is defined as the x-axis direction, the direction of both sides of the wearer wearing the wearable assistive device is defined as the y-axis direction, and the vertical direction is z defined in the axial direction.

The wearable assistive device according to the present invention has various degrees of freedom of movement of the hip joint of the body, and in order to minimize the wearer's discomfort, heterogeneity, or pain caused by the difference between the position of the hip joint and the position of the hip joint actuator 100 of the body. , it is possible to provide a design capable of providing various degrees of joint freedom of the hip joint structure of the wearable assistive device.

In general, the hip actuator 100 and the knee joint actuator (see 100c and 100d in FIG. 1 ) constituting a wearable assistive device in the form of an exoskeleton robot are y-axis to the hip and knee joints of the wearer in order to provide assistive force to the wearer's thighs and lower legs. Although it is possible to provide a central assist torque, the wearer's hip joint is allowed to rotate around the z-axis or rotate around the x-axis in addition to the y-axis rotational motion, so the present invention provides that the wearer's hip joint corresponds to the y-axis rotation or the z-axis rotation. It can provide joint degrees of freedom, and the joint structure of the wearable auxiliary device according to the present invention for providing each joint degree of freedom will be described below.

The wearable auxiliary device according to the present invention shown in FIG. 3 includes a body unit 400 mounted to surround a wearer's waist region and extending to a hip joint side region of the wearer; a pair of hip joint actuators 100 mounted on both ends of the body unit 400; and a femoral support unit 210 that is driven by the hip joint actuator 100 and provides rotational assistance to the wearer's thigh.

1 ?? As described with reference to FIG. 2 , the body unit 400 may be disposed in the upper region of the rear pelvis of the wearer, and the body unit (see 500 in FIG. 1 ) may be provided on the upper portion of the body unit 400 .

The body unit 400 is installed to cross the upper portion of the rear pelvis of the wearer, both ends are bent and extended in the lateral direction of the wearer, and the hip joint actuator 100 may be mounted on the lower portion of the body unit 400 .

As described above, the hip joint actuator 100 may include a rotary motor, and the driving shaft may be rotated around the y-axis to provide auxiliary torque or auxiliary force.

The body unit 400 of the wearable auxiliary device according to the present invention is configured to be rotatable around the z-axis so as to be abducted or adducted together according to the z-axis rotation of the wearer's thighs or lower extremities, and the femoral support unit 210 of The rotation center may be configured to be slidably displaceable.

Specifically, the body unit 400 of the wearable auxiliary device according to the present invention shown in FIG. 3 is z so that the hip joint actuator and the femoral support unit are abducted or proned together according to the z-axis rotation of the wearer's thigh or lower extremity. At least one transverse bar 420, a sliding block 430 slidably mounted on the transverse bar 420, the sliding block so that the axis is rotatable and the center of rotation of the femoral support unit 210 is slidably displaceable. It may be configured to include an extension member 440 that is rotatably fastened to the 430 in the z-axis and extends to the side area of the wearer.

The transverse bar 420 is at least one bar-shaped member mounted to cross the vicinity of the wearer's waist, and in the embodiment shown in FIG. 3 , two bar members are shown constituting the transverse bar 420 , but the number is It can be increased or decreased, and if the sliding block 430 is a slidable form, it may be configured in a form other than an annular bar.

In addition, the body unit 400 may be configured to include a pair of sliding blocks 430 that are mounted on the horizontal bar 420 to be slidably displaceable. The sliding block 430 may be mounted on the horizontal bar 420 to slide on the horizontal bar 420 when the z-axis rotation of the wearer's hip joint or thigh occurs.

In addition, an extension member 440 that is rotatably fastened to the sliding block 430 around the z-axis and extends to a side area of the wearer may be provided.

The extension member 440 is configured in a bent shape to surround the wearer's torso, and the hip joint actuator 100 is mounted on the lower portion of the outer end, and the inner end of the extension member 440 is rotatably mounted on the sliding block 430 on the z-axis. have.

The extension member 440 is configured to move together with the movement of the body of the wearer wearing the wearable auxiliary device.

Accordingly, when the wearer's hip joint or thigh is rotated about the z-axis, the extension member 440 may also rotate about the femur. In this case, in order to allow natural rotation of the extension member 440 with respect to the center of rotation of the hip joint as described above, the rotation center of the extension member 440 should not exist in a fixed position.

That is, when the extension member 440 rotates in the z-axis direction of the wearer's hip or thigh, only the outer end of the extension member 440 should not be rotated, and the inner end of the extension member 440 is also the z-axis center with reference to the upper end of the femur. should be rotated to

Accordingly, the inner end of the extension member 440 is rotatably coupled to the sliding block ( A structure for sliding the sliding block 430 similar to that of the 430 rotating around the femur may be employed. A description thereof will be deferred with reference to FIGS. 4 and 5 .

In addition, the stopper members 410 and 450 are mounted at the center and both ends of the horizontal bar 420, so that the sliding range of each sliding block 430 is partitioned, and the sliding block 430 can be prevented from being separated. have. That is, the stopper members 410 and 450 are provided with a central stopper member 410 and both end stopper members 450 for dividing the central boundary of the horizontal bar 420, so that each A sliding displacement range of the sliding block 430 may be determined.

In addition, the hip joint actuator 100 may be mounted on the outer end of the extension member 440 , specifically, on the lower portion of the outer end.

The hip joint actuator 100 is preferably disposed in the hip joint area, and the body unit 400 may be installed at a position surrounding the waist, so to compensate for the height difference between the waist and the hip joint, the body unit 400 A driver mounting member 110 may be additionally provided at an end of the extension member 440 constituting the .

The driver mounting member 110 may be coupled downwardly to the outer end of the extension member 440 . In addition, the actuator mounting member is not configured separately, and may be integrally configured with the extension member 440 of the body unit 400 .

And, in the embodiment shown in FIG. 3 , the transverse bar 420 is shown to be configured in a straight shape, but the transverse bar 420 wraps around the body more and shows the movement trajectory of the inner end of the extension member 440 . By allowing the sliding block 430 to be determined to slide along the curved horizontal bar 420, it is possible to provide a degree of joint freedom that more closely simulates the movement of the hip joint of the body.

In addition, the extension member 440 may also be configured not to bend a flat plate, but to bend in a curved shape to surround the wearer's body.

4 is a perspective view of the hip joint structure and the femoral support unit 210 shown in FIG. 3 rotated outwardly about the z-axis, and FIG. 5 is the hip joint structure and the femoral support unit 210 shown in FIG. 3 . A perspective view of this z-axis center rotated inward is shown.

In the hip joint structure shown in FIG. 4, the wearer's left (right side in the drawing) hip joint or femur rotates outwardly around the z-axis, and the wearer's right (left side in the drawing) hip joint or thigh is in an upright position based on the z-axis. .

In this case, when the extension member 440 is rotated outward, as shown in FIG. 4 , the sliding block 430 connected to the expanded member 440 slides toward the center of the horizontal bar 420 . As a result, it is possible to obtain an effect as if the outer end and inner end of the extension member 440 of the lower body auxiliary device rotate at the same time around the upper end of the femur, which is the center of rotation of the hip joint of the body.

The wearable auxiliary device shown in FIG. 4 can be understood as a state in which the hip joint structure and the femoral support unit 210 are rotated outwardly about the z-axis in a state in which the wearer is standing, but the hip joint structure and the femoral support unit 210 are The outward rotation around the z-axis can provide hip joint freedom in various motions of the wearer spreading their legs or twisting their body.

For example, even in the case of a stretching operation in which the wearer raises the left leg forward and rotates the thigh so that the knee becomes circular, the femur rotates with respect to the pelvis, and the extension member 440 constituting the wearing unit of the wearable auxiliary device rotates and then the sliding block 430 may slide together to allow movement of the wearer.

In the hip joint structure shown in FIG. 5, the wearer's left (right side in the drawing) hip joint or femur rotates in the inward direction about the z-axis, and the wearer's right (left side in the drawing) hip joint or thigh is in an upright position based on the z-axis. .

Therefore, contrary to the description through the embodiment shown in FIG. 4 , in the movement shown in FIG. 5 , the extension member 440 is rotated inward, and the sliding block 430 connected to the extension member 440 rotated inwardly is For the same reason as referring to FIG. 4 , the horizontal bar 420 may be slid in an outward direction.

And, a pair of sliding blocks 430 constituting the body unit 400 in the embodiment shown in FIGS. 4 and 5 are a center stopper member 410 and both end stopper members 450 of the transverse bar 420, respectively. It slides according to the movement of the hip joint or femur in the area partitioned by the .

4 and 5 illustrate a structure that provides the degree of freedom of the wearable auxiliary device when the wearer's hip joint is rotated or twisted about the z-axis, not the case where the wearer's hip is rotated about the y-axis like a walking motion.

Similarly, the movement of the hip joint of the body may include an x-axis rotation component in addition to a y-axis rotation component and a z-axis rotation component.

To this end, in the lower body auxiliary apparatus according to the present invention, the femoral support unit 210 is coupled to enable rotation in the x-axis with respect to the hip joint actuator 100, thereby providing a degree of freedom of rotation in the x-axis of the hip joint.

That is, in the case of the lower body auxiliary device according to the present invention, the femoral support unit 210 may be rotatably fastened with respect to the hip joint actuator 100 so as to be abducted or adducted together according to the abduction or adduction of the wearer's thigh.

To this end, as shown in Figs. 3, 6 and 7, the hip joint actuator 100 is the femoral support unit via an adduction or adduction unit 140 that allows abduction or adduction of the femoral support unit 210. It may be fastened with 210 .

As shown in FIG. 3 , the external/external unit 140 is rotatably fastened to the hinge member 120 and the hinge member 120 coupled to the output member of the hip joint actuator 100 about the x-axis. The sliding member 130 may be configured to include, and the sliding member 130 may be coupled to the femoral support unit 210 .

The hip joint actuator 100 may be configured as a rotary motor, and an output member (not shown) may be connected to an output terminal of the motor. The output member of the hip joint actuator 100 of the wearable auxiliary device according to the present invention shown in FIG. 3 is equipped with a 'C'-shaped hinge member 120 and can be rotated according to the operation of the hip joint actuator 100. .

The hinge member 120 may have a rotation shaft, and the sliding member 130 may be hinged to the rotation shaft. In this case, the sliding member 130 may allow the pronation and abduction of the femoral support unit 210 while the driving torque of the hip joint actuator 100 is transmitted to the femoral support unit 210 .

As shown in FIGS. 6 and 7, by providing an external/external unit 140 connecting the hip joint actuator 100 and the femoral support unit 210, the femoral support unit with respect to the hip joint actuator 100 ( 210) has a structure that is adducted or abducted to provide joint freedom of the lower body auxiliary device in response to adduction and abduction of the lower extremities of the body.

In addition, the rotation center of the adduction or abduction motion of the lower extremities is also the upper end of the femur connected to the pelvis, and the adduction/abduction unit 140 coupled to the hip joint actuator 100 is mounted below the hip joint actuator 100 . Therefore, even if the femoral support unit 210 is allowed to rotate around the x-axis, there is a position difference between the rotation axis of the internal/external rotation unit 140 and the upper end of the femur, which is the center of rotation of the hip joint. ) side rotatably connected to the x-axis, and when the wearer abducts and pronates the lower extremities while wearing the wearable auxiliary device, the length between the skin of the lower extremity and the inside of the femoral support unit 210 of the wearable auxiliary device Friction or interference due to deviation may occur, and it may be difficult to fully utilize the allowed range of adduction or abduction.

Therefore, the present invention rotatably connects the femoral support unit 210 with respect to the hip joint actuator 100 and at the same time adjusts the length of the femoral support unit 210 according to the adduction and abduction of the femoral support unit 210. Accordingly, it is possible to alleviate discomfort caused by mismatch between the rotational center of the body's hip joint and the rotational axis of the internal/external adduction unit 140 .

Specifically, the femoral support unit 210 may be configured such that the connection length with the hip joint actuator 100 is variable in a sliding manner according to abduction or adduction of the femur.

As described above, the external/external unit 140 includes a hinge member 120 coupled to the output member of the hip joint actuator 100 and a sliding member rotatably coupled to the hinge member 120 about the x-axis ( 130); may be configured to include, the thigh support unit 210 is provided with a sliding rail 215, the sliding member 130 of the external and external rotation unit 140 is sliding on the sliding rail (215). possible to be fastened.

Therefore, as shown in FIG. 6, when the femoral support unit 210 is adducted around the adductor unit 140, the sliding member ( The femoral support unit 210 provided with the sliding rail 215 on which 130 is mounted may be slidably displaced in a direction (downward) in which the connection length with the hip joint actuator 100 is increased.

Conversely, as shown in FIG. 7 , when the femoral support unit 210 is abducted around the abduction unit 140, the sliding member ( The femoral support unit 210 having the sliding rail 215 on which 130 is mounted may be slidably displaced in a direction (upward) in which the connection length to the hip joint actuator 100 is shortened.

In this way, the femoral support unit 210 is configured to enable adduction or abduction in response to adduction or abduction of the thigh or lower extremities of the wearer, and at the same time to solve the inconvenience caused by the rotation center mismatch, the thigh support unit 210 can be configured to slide in response to the external/external unit 140 connecting the hip joint actuator 100 .

And, the joint structure that provides the degree of freedom of rotation around the z-axis including the sliding operation of the extension member 440 constituting the body unit 400 described with reference to FIGS. 4 and 5 and described with reference to FIGS. 6 and 7 The degree of freedom of rotation around the x-axis including the sliding motion of the femoral support unit 210 may provide a degree of freedom at the same time in a specific motion of the wearer.

Therefore, the movement of the body such as lifting and turning, kicking, or fast running of the wearer wearing the wearable assistive device according to the present invention includes the z-axis rotation and the x-axis rotation or corresponding motion components. When performing the movement, the extension member 440 of the body unit 400 slides and rotates, and at the same time, the femoral support unit 210 rotates with respect to the hip actuator 100 and a series of sliding movements are generated. .

In addition, these various degrees of freedom also have a side effect of absorbing the need for a dedicated design of a wearable auxiliary device according to the wearer's physical characteristics or habits, etc., by absorbing the rotational freedom and sliding range of the joint.

Although the present specification has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims described below. will be able to carry out Therefore, if the modified implementation basically includes the elements of the claims of the present invention, it should be considered that all of them are included in the technical scope of the present invention.

1000: wearable auxiliary device
100: joint actuator
210, 230: thigh support unit, lower leg support unit
300: foot unit
400: body unit
500: body part

Claims (12)

a body unit mounted around the wearer's waist region and extending to the wearer's hip joint side region;
a pair of hip joint actuators mounted on both outer ends of the body unit; and,
It is driven by the hip joint actuator, and includes a femoral support unit that provides rotational assistance to the wearer's thigh.
The body unit includes at least one transverse bar, a sliding block slidably mounted on the transverse bar, and an extension member that is rotatably fastened to the sliding block in a z-axis center and extends to a side area of the wearer,
The extension member of the body unit is rotatably fastened to the hip joint actuator and the z-axis so as to be abducted or pronated together according to the z-axis rotation of the wearer's thighs or lower extremities, and the rotational center of the femoral support unit is slidably displaceable. lower body assist device. According to claim 1,
When the extension member is rotated outward, the sliding block connected to the extended member to be deployed slides toward the center of the horizontal bar. According to claim 1,
When the extension member is rotated inward, the sliding block connected to the folding extension member slides in an outer direction of the horizontal bar. According to claim 1,
The lower body auxiliary device, characterized in that the stopper member is mounted on the center and both ends of the horizontal bar, the sliding range of each sliding block is partitioned. According to claim 1,
The lower body auxiliary device, characterized in that the hip joint actuator is mounted below the outer end of the extension member. 6. The method of claim 5,
The hip joint actuator is a lower body auxiliary device, characterized in that it is mounted on the actuator mounting member that is connected downwardly to the outer end of the extension member. a body unit mounted around the wearer's waist region and extending to the wearer's hip joint side region;
a pair of hip joint actuators mounted on both outer ends of the body unit; and,
It is driven by the hip joint actuator, and includes a femoral support unit that provides rotational assistance to the wearer's thigh.
The body unit includes at least one transverse bar, a sliding block slidably mounted on the transverse bar, and an extension member that is rotatably fastened to the sliding block on the z-axis and extends to the side area of the wearer,
The femoral support unit is rotatably fastened with respect to the hip joint actuator so as to be abducted or adducted together according to the x-axis central abduction or adduction of the wearer's thigh,
The femoral support unit is a lower body auxiliary device, characterized in that the connection length with the hip joint actuator is variable in a sliding manner according to the x-axis central abduction or adduction of the femur. 8. The method of claim 7,
The hip joint actuator is a lower body auxiliary device, characterized in that it is fastened to the femoral support unit via an adduction unit that allows abduction or adduction of the femoral support unit. 9. The method of claim 8,
and the external/external unit includes a hinge member coupled to the output member of the hip joint actuator and a sliding member rotatably coupled to the hinge member about the x-axis. 10. The method of claim 9,
A sliding rail is provided on the femoral support unit, and a sliding member of the external/external unit is slidably fastened to the sliding rail. 8. The method of claim 7,
The lower body auxiliary device, characterized in that the hip joint actuator is mounted below the outer end of the extension member. 12. The method of claim 11,
The hip joint actuator is a lower body auxiliary device, characterized in that it is mounted on the actuator mounting member that is connected downwardly to the outer end of the extension member.

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